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Automatic Anti-Swing Gantry Crane Based on Gradient Descent Optimization Proportional Integrated Derivative (PID): A Comparison Simulation and Real Experiment

Automatic Anti-Swing Gantry Crane Based on Gradient Descent ...

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2023 International Conference on Electrical engineering and Informatics, ICEEI 2023

作者： Qadri, Munzir Harjanto, Danang Karuna Miharja, Jonathan Astuti, Winda Mariana, Yosica Tan, Sofyan Solihin, Mahmud Iwan University of Muhammadiyah Jakarta Engineering Faculty Mechanical Engineering Department Jakarta10510 Indonesia Binus Aso School of Engineering Bina Nusantara University Automotive and Robotics Program Computer Engineering Department Jakarta11480 Indonesia Binus Aso School of Engineering Bina Nusantara University Product Design Program Industrial Engineering Department Jakarta11480 Indonesia Ucsi University Departement of Mechanical & Mechatronics Engineering Kuala Lumpur Malaysia

ISBN: (纸本)9798350381290

Transporting payload with precise swing angles and transfer times poses a challenging task in building construction, which is why gantry crane systems are extensively utilized. Various control strategies, including open-loop and closed-loop systems, have been proposed to tackle this issue. However, most of these controllers rely on a model and parameters specific to the crane system, making the process of modeling and parameter identification complex and time-consuming. To address this challenge, this work presents a practical and simulation control method for automatic gantry cranes, which is evaluated simulation and experimentally. The lab-scale Gantry crane is developed in this work, which consists of mechanical and electrical parts. Proportional Integral and Derivative (PID) and Proportional Derivative (PD) controllers which applied optimization method are implemented in the electrical part of the system. The PID and PD controller applied in controlled the position and swing angle, respectively. The Gradient Decent optimization method is the best optimization method in determining the parameter of the controller, since it has the best simulation performance in the output of the system. The experimental result is developed and compared between simulation and lab-scale Gantry crane hardware implementation part. The performance of experimental results is shown appropriately approaching the performance of the simulation result, with the approximately settling time. © 2023 IEEE.

关键词： Proportional control systems

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Low Power Coherent Ising Machine Based on Mechanical Kerr Nonlinearity

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Physical Review Letters 2023年第7期130卷 073802-073802页

作者： Yoonhyuk Rah Youngjae Jeong Sangyoon Han Kyoungsik Yu School of Electrical Engineering Korea Advanced Institute of Science and Technology KAIST Daejeon 34141 Republic of Korea Robotics and Mechatronics Engineering Daegu-Gyeongbuk Institute of Science and Technology DGIST Daegu 42988 Republic of Korea

Finding a reliable Ising machine for solving nondeterministic polynomial-class problems has attracted great attention in recent years, where an authentic system can be expanded with polynomial-scaled resources to find the ground state Ising Hamiltonian. In this Letter, we propose an extremely low power optomechanical coherent Ising machine based on a new enhanced symmetry breaking mechanism and highly nonlinear mechanical Kerr effect. The mechanical movement of an optomechanical actuator induced by the optical gradient force greatly increases the nonlinearity by a few orders and significantly reduces the power threshold using conventional structures capable of fabrication via photonic integrated circuit platforms. With the simple but strong bifurcation mechanism and remarkably low power requirement, our optomechanical spin model opens a path for chip-scale integration of large-size Ising machine implementations with great stability.

关键词： Kerr effect Nanophotonics Nonlinear optics

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Improved attitude stabilisation system augmented sounding rocket design, integration, Verification & launch ⁎

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IFAC-PapersOnLine 2024年第16期58卷 175-180页

作者： Alexandra Posta Alexandre Monk Antoine Durollet Oliver Martin Sam Bruton Jongrae Kim Mechatronics & Robotics University of Leeds Leeds LS2 9JT UK School of Mechanical Engineering University of Leeds Leeds LS2 9JT UK

A common barrier to maximising the altitude of a sounding rocket is the attitude deviation from the vertical fight induced by wind, known as weather cocking. An active stabilisation with canards, which was first proposed and implemented in the previous academic year (2022-23), is significantly improved as follows: a compact fight computer, a robust canard mechanical system, the linear quadratic regulator gain tuned and a new telemetry with extended data monitoring/analysis. The Verification process, which includes the fight mode detection, the wind tunnel experiment, the telemetry test and the attitude estimation test, has been performed. A successful launch in April 2024 shows the effectiveness of the integrated attitude control system and the ground data supporting system.

关键词： Sounding rocket weather cocking canard attitude control system integration

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An Optical Interferometer-based Force Sensor System for Enhancing Precision in Epidural Injection Procedure

An Optical Interferometer-based Force Sensor System for Enha...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Gichan Cho Jintaek Im Hyunjung Kwon Cheol Song Department of Robotics and Mechatronics Engineering DGIST Daegu South Korea Department of Anesthesiology and Pain Medicine Seoul Asan Medical Center Seoul South Korea

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

In minimally invasive pain management procedures, precise needle positioning is paramount for effective treatment and patient safety. Traditional techniques like the loss-of-resistance (LOR) method may be insufficient, especially in patients with narrowed epidural spaces. The use of imaging tools such as C-arms carries risks due to radiation exposure for medical professionals. A new system for detecting the epidural space based on optical interferometry is proposed to tackle this issue. Prior research has focused on force measurement systems to identify tissue puncture or rupture. Although mechanical sensors have been utilized, they add bulk and complexity to systems. Optical sensors like Fiber Bragg grating (FBG) and Fabry-Pérot interferometer (FPI) offer stable, high-resolution measurements suitable for complex biological tissues. This study aims to develop a sensor and needle system for epidural injections, incorporating quantitative metrics for validation. An optical interferometer-based force measurement sensor was integrated into a commercial epidural needle, and calibration was performed to establish a correlation between system output and actual force. The system employs a graphical user interface (GUI) to identify puncture points based on abrupt force decreases. A user study involving interventionalists assessed the system’s performance by measuring invasive depth and success rates. The user study demonstrated that the proposed sensorized system could detect the puncture with an average success rate of 72.63 %. This study represents a significant advancement toward safer and more precise epidural procedures, addressing critical clinical considerations for practical applications.

关键词： Optical fibers Optical interferometry Optical fiber sensors Force measurement Force Optical variables measurement Robot sensing systems Needles Optical imaging Graphical user interfaces

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Comparative Analysis of Reinforcement Learning Techniques in Simulated robotics Environments

Comparative Analysis of Reinforcement Learning Techniques in...

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IEEE International Conference of Intelligent Robotic and Control engineering (IRCE)

作者： Abey Yoseph M. Hassan Tanveer Razvan Cristian Voicu M. Farrukh Shahid Department of Robotics & Mechatronics Engineering Kennesaw State University Marietta Department of AI and Data Science National University of Computer and Emerging Sciences Karachi Pakistan

ISBN: (数字)9798350352399

ISBN: (纸本)9798350352405

Machine learning is a critical component of artificial intelligence and computer science that uses data and algorithms to emulate the way that humans learn and predict. Reinforcement learning, one of the many forms of machine learning, trains an agent through trial and error, with successful outcomes being rewarded and unsuccessful outcomes being penalized. The implementation of three reinforcement learning algorithms, Qlearning, Deep Q-Learning, and Double Deep Q-Learning, was tested using a series of ROS (Robot Operating System) packages in the Gazebo simulation environment. The Python openai_ros package and Gym libraries were used to input a robot into a configurable environment and test out the performance of a specific reinforcement learning algorithm. The agent’s action space was discretized into three specific actions, move forward, turn left, or turn right, that the robot could take. The reward or punishment was given after each step based on if the current action moved the robot towards the goal state or away from it. For each algorithm, the agent was first pre-trained on an obstacle free environment for 200 episodes and then was placed in an environment with two box-shaped obstacles to avoid. The algorithm/neural network parameters from the pre-training environment were loaded prior to the agent being tested in the new environment. The goal state at each episode was randomly generated and the robot’s performance was evaluated using the cumulative reward achieved per episode and the number of times it reached the goal.

关键词： Training Measurement Q-learning Machine learning algorithms Operating systems Robot vision systems Turning Prediction algorithms Libraries Robots

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Comparative Study of Energy Management Techniques for Solar PV-Based Microgrid Systems

Comparative Study of Energy Management Techniques for Solar ...

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engineering and Technology (PICET), Parul International Conference on

作者： Yaya Kamagaté Heli Amit Shah SSPM Sharma B Electrical Engineering Department Parul University Vadodara India Robotics and Automation Engineering Department Parul University Vadodara India Mechatronics Engineering Department Symbiosis University of Applied Sc. Indore India

ISBN: (数字)9798350369748

ISBN: (纸本)9798350369755

In recent years, microgrid systems have gained popularity as reliable, efficient, and clean energy sources for local communities. Among these, solar PV systems stand out as a widely used microgrid variant. However, the intermittent nature of solar power necessitates the incorporation of energy storage solutions to ensure a consistent electricity supply. In this context, batteries and supercapacitors emerge as two prominent options for storing energy in solar PV microgrids. This study leads a comprehensive examination and correlation of three distinct solar PV-based microgrid configurations: solar PV system (PVS), solar PV with battery system (PVBS), and solar PV with both battery and supercapacitor system (PVBSS). Employing MATLAB/Simulink, the analysis centers on their technical capabilities, particularly emphasizing energy management. The simulation results demonstrate that incorporating battery storage enhances the performance of the PVS microgrid, ensuring the stability of the DC bus voltage and thus balancing energy production and consumption. Furthermore, the PVBSS configuration exhibits superior performance through its capacity to deliver high power with rapid response times, consequently extending the battery lifespan. This investigation underscores the critical role of energy storage solutions in enhancing solar PV microgrids' effectiveness and overall performance.

关键词： Simulation Microgrids Voltage Production Supercapacitors Stability analysis Batteries Time factors Reliability Energy management

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PV Generation Monitoring Using Calculated Power Flow from μPMUS

PV Generation Monitoring Using Calculated Power Flow from μ...

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2024 International Conference on Optimization Computing and Wireless Communication, ICOCWC 2024

作者： Hussain, K. Kaliappan, S. Arul Joseph Amalraj, M. Saini, Parvesh Nandha Kumar, S.K. Dhanraj, Joshuva Arockia Sharad Institute of Technology College of Engineering Department of Electrical Engineering Ichalkaranji416121 India Lovely Professional University Division of Research and Development Jalandhar144411 India Veltech Multitech Dr Rangarajan Dr Sakunthala Engineering College Department of Chemistry Chennai600109 India Graphic Era Deemed to Be University Department of Electrical Engineering Dehradun248002 India Psna College of Engineering & Technology Department of Electrical and Electronics Engineering Dindigul624622 India Hindustan Institute of Technology and Science Centre for Automation and Robotics Department of Mechatronics Engineering Chennai603103 India

ISBN: (纸本)9798350383348

The ability of PMUs to provide precise, synchronized readings of voltage, current and frequency has made them valuable for the observation of microgrids. In some microgrids, PMU s are utilized without a current transformer and only measure voltage phasor values. This research outlines a procedure to use μPMU (or micro-PMU) voltage readings to ascertain electric loads or photovoltaic (PV) production through gauging power flow (PF). The results of a study conducted at the Federal University of Paraná's Polytechnic School (UFPR) in Brazil demonstrated that utilizing the power flow calculated by a 'virtual CT' approach, as measured by a standard power meter and with a higher time resolution from a microPMU, is a reliable and efficient method for recognizing events, monitoring PV generation, and non-intrusively monitoring load (NILM). © 2024 IEEE.

关键词： microgrids power flow PV generation μPMU

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Logarithmically Quantized Distributed Optimization over Dynamic Multi-Agent Networks

arXiv

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arXiv 2024年

作者： Doostmohammadian, Mohammadreza Pequito, Sérgio Mechatronics Department Faculty of Mechanical Engineering Semnan University Semnan Iran Department of Electrical and Computer Engineering Institute for Systems and Robotics Instituto Superior Técnico University of Lisbon Portugal

Distributed optimization finds many applications in machine learning, signal processing, and control systems. In these real-world applications, the constraints of communication networks, particularly limited bandwidth, necessitate implementing quantization techniques. In this paper, we propose distributed optimization dynamics over multi-agent networks subject to logarithmically quantized data transmission. Under this condition, data exchange benefits from representing smaller values with more bits and larger values with fewer bits. As compared to uniform quantization, this allows for higher precision in representing near-optimal values and more accuracy of the distributed optimization algorithm. The proposed optimization dynamics comprise a primary state variable converging to the optimizer and an auxiliary variable tracking the objective function's gradient. Our setting accommodates dynamic network topologies, resulting in a hybrid system requiring convergence analysis using matrix perturbation theory and eigenspectrumanalysis. © 2024, CC BY.

关键词： Support vector machines

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Compliance Control and Simulation of a Next-Generation Chewing Robot 42

Compliance Control and Simulation of a Next-Generation Chewi...

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42nd Chinese Control Conference, CCC 2023

作者： Wang, Xudong Xu, Weiliang Dhupia, Jaspreet Bronlund, John Han, Jianda The University of Auckland Department of Mechanical & Mechatronics Engineering Auckland New Zealand School of Food and Advanced Technology Massey University Palmerston North New Zealand Reddit Institute Palmerston North New Zealand Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin China Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin China

ISBN: (纸本)9789887581543

The aim of the development of the chewing robots is to study the biomechanics of chewing process or produce the bolus for further research by in vitro experiments. Some chewing robots are open loop controlled and couldn't behave like a human. However, to make the chewing robots more bin-mimic, force feedback based closed loop control is required. To improve the efficiency of the in-vitro chewing experiments, a next generation chewing robot with cam-follower based multi-chambers was developed previously, which can be used test the effect of different chewing parameters on the chewing performance and food texture changes simultanously. In this paper, modified admittance control based on the force feedback was applied to the chewing robot. At first, to improve food particle size reduction to a distribution which closely matches that produced by human and protect the components of the robot from breakage or impact damage, a spring mass based system, called remote center compliance (RCC), was developed and applied to the robot to control the chewing force. Then, based on the knowledge of human chewing process, power-based algorithm, and modified admittance control method were used as the feedback to adjust the angular velocity of the motor and corresponding chewing velocity of the teeth. The performance of the control model was also simulated, results showed that the model is reliable to control the robot and make it bio-mimic. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Compliance control

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Swing-Up of a Weakly Actuated Double Pendulum via Nonlinear Normal Modes

Swing-Up of a Weakly Actuated Double Pendulum via Nonlinear ...

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European Control Conference (ECC)

作者： Arne Sachtler Davide Calzolari Maximilian Raff Annika Schmidt Yannik P. Wotte Cosimo Della Santina C. David Remy Alin Albu-Schäffer German Aerospace Center (DLR) Institute of Robotics and Mechatronics Münchener Straβe 20 Oberpfaffenhofen Germany Department of Computer Engineering Technical University of Munich (TUM) Garching Germany University of Stuttgart Institute for Nonlinear Mechanics Stuttgart Germany Robotics & Mechatronics Group University of Twente Enschede The Netherlands Department of Cognitive Robotics Delft University of Technology (TU Delft) Delft The Netherlands

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

We identify the nonlinear normal modes spawning from the stable equilibrium of a double pendulum under gravity, and we establish their connection to homoclinic orbits through the unstable upright position as energy increases. This result is exploited to devise an efficient swing-up strategy for a double pendulum with weak, saturating actuators. Our approach involves stabilizing the system onto periodic orbits associated with the nonlinear modes while gradually injecting energy. Since these modes are autonomous system evolutions, the required control effort for stabilization is minimal. Even with actuator limitations of less than 1% of the maximum gravitational torque, the proposed method accomplishes the swing-up of the double pendulum by allowing sufficient time.

关键词： Actuators Torque Tensors Modal analysis Motors Orbits Generators

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